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Method to Measure Tone of Axial and Proximal Muscle
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External torque estimation based P+Damping control for bilateral teleoperation systems.

Baorui Jing1, Jing Na1, Hao Duan1

  • 1Faculty of Mechanical & Electrical Engineering, Kunming University of Science & Technology, Kunming, 650500, China; Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science & Technology, Kunming, 650500, China.

ISA Transactions
|February 13, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a new control method for bilateral teleoperation systems, improving motion synchronization and transparency despite time delays. It also presents an innovative torque estimator that reduces hardware costs and sensor needs.

Keywords:
Motion synchronizationTeleoperation systemsTorque estimationTransparency

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Bilateral teleoperation systems are susceptible to time delays, which degrade performance.
  • Accurate torque sensing is crucial for teleoperation but increases hardware complexity and cost.
  • Existing control methods struggle to maintain synchronization and transparency under time delays.

Purpose of the Study:

  • To develop a robust control strategy for bilateral teleoperation systems that mitigates time delay effects.
  • To introduce a novel, cost-effective torque estimator that avoids direct torque measurement.
  • To enhance motion synchronization, position/velocity tracking, and transparency during contact tasks.

Main Methods:

  • A P+Damping control strategy combined with gravity compensation was implemented.
  • An Unknown System Dynamics Estimator (USDE)-based torque estimator was developed to estimate external torques without acceleration measurements.
  • The USDE-based estimator was integrated with the P+Damping controller.

Main Results:

  • The proposed control method effectively addresses time delays in bilateral teleoperation.
  • The USDE-based torque estimator accurately estimates external torques with minimal tuning.
  • Simulations and experiments validated the enhanced transparency, synchronization, and stability of the system.

Conclusions:

  • The integrated P+Damping control and USDE-based torque estimation offers a robust solution for bilateral teleoperation.
  • This approach enhances system performance, reduces hardware costs, and simplifies sensor requirements.
  • The method is effective for teleoperation tasks involving contact and time delays.